code: def fix_rotation_matrix(rotation_matrix, object_class):
      fix_angle = tf_utils.euler_from_rotation_matrix(
          rotation_matrix, 1
      )
      if object_class == 2:  # table
          fix_angle = tf.math.floormod(fix_angle, math.pi)
      elif object_class == 3 or object_class == 4:  # bottle, bowl
          fix_angle = tf.constant(0.0)
      euler_angles_fixed = tf.stack([0.0, fix_angle, 0.0])
      rotation_matrix = rotation_matrix_3d.from_euler(
          euler_angles_fixed
      )
      return rotation_matrix
  
file_path: graphics/tensorflow_graphics/projects/points_to_3Dobjects/data_preparation/extract_protos.py
imports: import math
  import tensorflow
  from tensorflow_graphics.geometry.transformation import rotation_matrix_3d
  from tensorflow_graphics.projects.points_to_3Dobjects.utils import tf_utils
label_desc: Use image node_id 4 for calling a global function with example usage: fix_rotation_matrix(rotation_matrix, object_class) and returns: rotation_matrix